version: 66.06
glider: 523
mission: 4
dive: 598
start: 6 29 113 22 23 46
data:
$ID,523
$MISSION,4
$DIVE,598
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47989.41
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,221734,2106.329,-15742.409,26,0.7,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.9
$GPS2,222329,2106.340,-15742.414,17,0.9,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,209.7,20227,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-77.60,0.000,6,0.000,0.000,41,1964,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.0,13,118,9.57,2.30,0.00,0.000,4,0.222,0.053,2388,545,3398,0,0,0,0,0,0
$GC,357,-0.74,-146.0,51.0,-15.8,60,365,0.00,2.22,0.00,0.000,6,0.000,0.038,2380,1960,3399,0,0,0,0,0,0
$GC,699,-0.74,-146.0,90.9,-10.5,112,703,0.00,2.30,0.00,0.000,4,0.000,0.056,2380,550,3401,0,0,0,0,0,0
$GC,950,-0.74,-146.0,117.8,-10.5,135,955,0.12,2.17,0.00,0.000,6,0.160,0.036,2403,1958,3402,0,0,0,0,0,0
$GC,1278,-0.74,-146.0,141.4,-8.0,165,1282,0.00,2.30,0.00,0.000,4,0.000,0.056,2404,542,3403,0,0,0,0,0,0
$GC,1534,-0.74,-146.0,162.6,-9.0,188,1538,0.00,2.15,0.00,0.000,6,0.000,0.036,2396,1958,3403,0,0,0,0,0,0
$GC,1861,-0.74,-146.0,190.7,-9.0,218,1865,0.00,2.33,0.00,0.000,4,0.000,0.056,2396,540,3404,0,0,0,0,0,0
$GC,2115,-0.74,-146.0,214.1,-9.2,233,2120,0.00,2.17,0.00,0.000,6,0.000,0.038,2386,1961,3404,0,0,0,0,0,0
$GC,2433,-0.74,-146.0,239.1,-7.6,249,2437,0.00,2.28,0.00,0.000,4,0.000,0.055,2386,548,3403,0,0,0,0,0,0
$GC,2692,-0.74,-146.0,258.7,-7.4,260,2698,0.00,2.17,0.00,0.000,6,0.000,0.038,2377,1969,3404,0,0,0,0,0,0
$GC,3010,-0.74,-146.0,281.5,-6.7,276,3014,0.00,2.33,0.00,0.000,4,0.000,0.056,2377,547,3404,0,0,0,0,0,0
$GC,3230,-0.74,-146.0,297.8,-7.8,286,3234,0.12,2.20,0.00,0.000,6,0.157,0.038,2400,1968,3403,0,0,0,0,0,0
$GC,3555,-0.74,-146.0,317.5,-6.1,295,3559,0.00,2.25,0.00,0.000,4,0.000,0.063,2392,3361,3403,0,0,0,0,0,0
$GC,3646,-0.74,-146.0,324.4,-7.5,297,3650,0.00,2.25,0.00,0.000,6,0.000,0.046,2392,1951,3403,0,0,0,0,0,0
$GC,3973,-0.74,-146.0,346.3,-6.2,305,3977,0.00,2.28,0.00,0.000,4,0.000,0.061,2392,546,3401,0,0,0,0,0,0
$GC,4091,-0.74,-146.0,354.5,-5.8,307,4095,0.00,2.20,0.00,0.000,6,0.000,0.038,2382,1966,3400,0,0,0,0,0,0
$GC,4428,-0.74,-146.0,375.1,-6.4,316,4432,0.00,2.35,0.00,0.000,4,0.000,0.059,2382,541,3399,0,0,0,0,0,0
$GC,4474,-0.74,-146.0,378.2,-6.6,317,4478,0.00,2.20,0.00,0.000,6,0.000,0.040,2373,1956,3398,0,0,0,0,0,0
$GC,4793,-0.74,-146.0,398.8,-6.2,325,4797,0.00,2.30,0.00,0.000,4,0.000,0.059,2373,548,3396,0,0,0,0,0,0
$GC,4837,-0.74,-146.0,401.9,-7.0,326,4842,0.15,2.20,0.00,0.000,6,0.151,0.041,2404,1955,3396,0,0,0,0,0,0
$GC,5158,-0.74,-146.0,419.4,-5.8,334,5162,0.00,2.28,0.00,0.000,4,0.000,0.059,2405,548,3395,0,0,0,0,0,0
$GC,5291,-0.74,-146.0,427.3,-5.1,337,5295,0.00,2.22,0.00,0.000,6,0.000,0.041,2397,1967,3394,0,0,0,0,0,0
$STATE,5410,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5410,begin apogee
$GC,5416,-0.17,0.0,434.2,5.5,340,5542,0.57,0.00,123.00,0.741,6,0.110,0.000,2583,1967,2799,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5546,0.74,146.0,434.3,0.0,343,5684,0.85,2.40,127.40,0.716,4,0.069,0.061,2879,3390,2203,0,0,0,0,0,0
$GC,5717,0.74,146.0,414.9,14.1,347,5721,0.00,2.33,0.00,0.000,6,0.000,0.046,2889,1981,2200,0,0,0,0,0,0
$GC,6060,0.74,146.0,371.6,12.4,356,6064,0.00,2.30,0.00,0.000,4,0.000,0.058,2889,3390,2196,0,0,0,0,0,0
$GC,6087,0.74,146.0,368.0,13.4,356,6091,0.00,2.28,0.00,0.000,6,0.000,0.048,2898,1978,2195,0,0,0,0,0,0
$GC,6418,0.74,146.0,327.8,11.8,364,6422,0.00,2.28,0.00,0.000,4,0.000,0.058,2898,3392,2194,0,0,0,0,0,0
$GC,6531,0.74,146.0,312.9,13.5,366,6535,0.00,2.28,0.00,0.000,6,0.000,0.048,2907,1979,2193,0,0,0,0,0,0
$GC,6849,0.74,146.0,275.6,10.6,379,6854,0.00,2.30,0.00,0.000,4,0.000,0.060,2907,3391,2191,0,0,0,0,0,0
$GC,6905,0.74,146.0,268.5,13.9,381,6911,0.15,2.28,0.00,0.000,6,0.143,0.049,2874,1976,2190,0,0,0,0,0,0
$GC,7221,0.74,146.0,233.2,11.1,397,7225,0.00,2.30,0.00,0.000,4,0.000,0.067,2883,566,2189,0,0,0,0,0,0
$GC,7260,0.74,146.0,228.9,10.6,399,7264,0.00,2.22,0.00,0.000,6,0.000,0.041,2883,1984,2189,0,0,0,0,0,0
$GC,7579,0.75,160.1,198.1,8.4,415,7595,0.00,2.25,11.30,0.560,4,0.000,0.064,2883,3389,2146,0,0,0,0,0,0
$GC,7710,0.75,160.1,186.2,9.5,426,7717,0.00,2.30,0.00,0.000,6,0.000,0.050,2892,1980,2145,0,0,0,0,0,0
$GC,8037,0.75,160.1,158.7,9.6,457,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1980,2144,0,0,0,0,0,0
$GC,8358,0.78,179.1,129.5,8.2,487,8382,0.00,2.30,17.55,0.534,4,0.000,0.060,2892,3393,2068,0,0,0,0,0,0
$GC,8509,0.78,182.8,114.7,8.9,500,8519,0.00,2.30,4.62,0.397,6,0.000,0.050,2901,1982,2053,0,0,0,0,0,0
$GC,8847,0.83,220.5,88.2,7.5,532,8886,0.00,2.33,33.67,0.507,4,0.000,0.061,2900,3390,1900,0,0,0,0,0,0
$GC,8944,0.83,220.5,79.9,9.7,540,8951,0.00,2.33,0.00,0.000,6,0.000,0.051,2906,1972,1898,0,0,0,0,0,0
$GC,9281,0.86,249.6,49.0,7.8,601,9316,0.00,2.30,26.17,0.466,4,0.000,0.061,2916,570,1780,0,0,0,0,0,0
$GC,9342,0.89,271.5,44.0,8.1,611,9370,0.00,2.22,20.25,0.453,6,0.000,0.041,2916,1985,1693,0,0,0,0,0,0
$GC,9696,0.94,307.3,14.8,7.6,676,9736,0.00,2.25,31.77,0.439,4,0.000,0.054,2916,3373,1546,0,0,0,0,0,0
$GC,9809,0.94,307.3,4.6,11.0,695,9816,0.00,2.30,0.00,0.000,6,0.000,0.052,2922,1982,1544,0,0,0,0,0,0
$STATE,9822,end climb,SURFACE_DEPTH_REACHED
$STATE,9822,begin surface coast
$FINISH,0.5,0.998865
$STATE,9855,end surface coast,CONTROL_FINISHED_OK
$STATE,9855,begin surface
$SM_CCo,9933,0.00,0.000,0,0,1540,308.83
$SM_GC,1.42,7.43,0.00,0.00,0.025,0.000,0.000,35,1980,1540,-8.01,0.68,308.83
$IRIDIUM_FIX,2057.14,-15734.18,230902,191927
$TT8_MAMPS,0.027612
$HUMID,66.18
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.4,51.110
$10V_AH,10.2,55.963
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.975,95.275,395.750,0.000,0.000,25.356,41.434,149.801,18.250,0.000,17.649,1291.180,5629.638,409.455,2453.389,498.574,0.000,1295.229,0.000,2401.809,0.000,113.539,0.000
$DEVICE_MAMPS,222.430,66.729,740.922,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,476.932,408.885,1427.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38118,703
$CAP_FILE_SIZE,110615,0
$CFSIZE,260165632,225964032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300613,011021,2105.519,-15741.777,26,0.9,26,9.8